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Wu W, Yao G, Zhang M, Jiang X, Zhang D. Biomimetic Ultrasonic Vibrator with Broadband Characteristics Inspired by Leaf-Cutting Ants. Biomimetics (Basel) 2024; 9:247. [PMID: 38667257 PMCID: PMC11048656 DOI: 10.3390/biomimetics9040247] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/12/2024] [Revised: 04/12/2024] [Accepted: 04/15/2024] [Indexed: 04/28/2024] Open
Abstract
Power ultrasound is widely used in industrial production, medical equipment, aerospace, and other fields. Currently, there are two main types of commonly used power generation devices: piezoelectric ultrasonic transducers and magnetostrictive ultrasonic transducers. However, in certain situations with limited external dimensions, the applications of existing power ultrasound devices are limited. In nature, leaf-cutting ants excite vibrations through their tiny organs. Inspired by the vibratory organs of leaf-cutting ants, a new type of biomimetic ultrasonic vibrator (BUV) comprising a scraper, dentate disc, and fixture system was proposed, fabricated, and tested in this study. The experimental results showed that the BUV could operate in the frequency range of 16.8-19 kHz. Within the working frequency range, the vibration of the BUV was stable and the amplitude of the vibration displacement was greater than 22 µm. The operating frequency band of the BUV was broader than those of the piezoelectric and magnetostrictive ultrasonic transducers. In addition, the BUV can cut soft rubber and pig tissues with sufficient output power and load-carrying capacity. The BUV, as a new type of power ultrasonic excitation device, is expected to be applied in high-power micro operating scenarios, such as minimally invasive surgical instruments.
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Affiliation(s)
- Wenshuai Wu
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; (W.W.); (G.Y.); (M.Z.); (X.J.)
- Institute of Bionic and Micro-Nano Systems, Beihang University, Beijing 100191, China
| | - Guang Yao
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; (W.W.); (G.Y.); (M.Z.); (X.J.)
- Institute of Bionic and Micro-Nano Systems, Beihang University, Beijing 100191, China
| | - Mingshuo Zhang
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; (W.W.); (G.Y.); (M.Z.); (X.J.)
- Institute of Bionic and Micro-Nano Systems, Beihang University, Beijing 100191, China
| | - Xinggang Jiang
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; (W.W.); (G.Y.); (M.Z.); (X.J.)
- Institute of Bionic and Micro-Nano Systems, Beihang University, Beijing 100191, China
| | - Deyuan Zhang
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; (W.W.); (G.Y.); (M.Z.); (X.J.)
- Institute of Bionic and Micro-Nano Systems, Beihang University, Beijing 100191, China
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First-Hand Experience and Result with New Robot-Assisted Laser LeFort-I Osteotomy in Orthognathic Surgery: A Case Report. J Pers Med 2023; 13:jpm13020287. [PMID: 36836521 PMCID: PMC9962026 DOI: 10.3390/jpm13020287] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/14/2023] [Revised: 01/30/2023] [Accepted: 02/01/2023] [Indexed: 02/09/2023] Open
Abstract
BACKGROUND We report the world's first developer-independent experience with robot-assisted laser Le Fort I osteotomy (LLFO) and drill-hole marking in orthognathic surgery. To overcome the geometric limitations of conventional rotating and piezosurgical instruments for performing osteotomies, we used the stand-alone robot-assisted laser system developed by Advanced Osteotomy Tools. The aim here was to evaluate the precision of this novel procedure in comparison to the standard procedure used in our clinic using a computer-aided design/computer-aided manufacturing (CAD/CAM) cutting guide and patient-specific implant. METHODS A linear Le-Fort-I osteotomy was digitally planned and transferred to the robot. The linear portion of the Le-Fort I osteotomy was performed autonomously by the robot under direct visual control. Accuracy was analyzed by superimposing preoperative and postoperative computed tomography images, and verified intraoperatively using prefabricated patient-specific implant. RESULTS The robot performed the linear osteotomy without any technical or safety issues. There was a maximum difference of 1.5 mm on average between the planned and the performed osteotomy. In the robot-assisted intraoperative drillhole marking of the maxilla, which was performed for the first time worldwide, were no measurable deviations between planning and actual positioning. CONCLUSION Robotic-assisted orthognathic surgery could be a useful adjunct to conventional drills, burrs, and piezosurgical instruments for performing osteotomies. However, the time required for the actual osteotomy as well as isolated minor design aspects of the Dynamic Reference Frame (DRF), among other things, still need to be improved. Still further studies for final evaluation of safety and accuracy are also needed.
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Honigmann P, Hofer M, Hirsch S, Morawska M, Müller‐Gerbl M, Thieringer FM, Coppo E. Cold ablation robot‐guided laser osteotomy in hand, wrist and forearm surgery—A feasibility study. Int J Med Robot 2022; 18:e2438. [PMID: 35770622 PMCID: PMC9541476 DOI: 10.1002/rcs.2438] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/09/2022] [Revised: 06/15/2022] [Accepted: 06/24/2022] [Indexed: 11/11/2022]
Abstract
Introduction Traditional bone surgery using saws and chisels is associated with direct contact of instruments with the bone causing friction, heat and pressure and hence, damaging the bone and the surrounding soft tissues. Method Cold ablation laser osteotomy offers new possibilities to perform corrective osteotomies in the field of bone surgery. We introduce the technology of navigated cold ablation robot‐guided laser osteotomy, present potential applications, and preliminary pre‐clinical cadaver test results in the field of hand‐, wrist‐ and forearm surgery. Results The cadaver tests showed first promising results for corrections in all planes and axes using different cutting patterns. Conclusion Cold ablation laser osteotomy seems to be a feasible new method to perform osteotomies in the field of hand‐, wrist‐ and forearm surgery. Primary osseous stability could be achieved using various cutting patterns which could lead to reduction of the amount of hardware required for osteosynthesis. Further tests are required to proof the latter and precision.
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Affiliation(s)
- Philipp Honigmann
- Hand and Peripheral Nerve Surgery Department of Orthopaedic Surgery and Traumatology Kantonsspital Baselland (Bruderholz, Liestal, Laufen) Bruderholz Switzerland
- Department of Biomedical Engineering Medical Additive Manufacturing Research Group (MAM) University of Basel Allschwil Switzerland
- Department of Biomedical Engineering and Physics Amsterdam UMC University of Amsterdam Amsterdam Movement Sciences Amsterdam The Netherlands
- Faculty of Medicine University of Basel Basel Switzerland
| | - Maximilian Hofer
- Department of Biomedical Engineering Medical Additive Manufacturing Research Group (MAM) University of Basel Allschwil Switzerland
- Faculty of Medicine University of Basel Basel Switzerland
| | | | | | - Magdalena Müller‐Gerbl
- Faculty of Medicine University of Basel Basel Switzerland
- Institute of Anatomy University Basel Basel Switzerland
| | - Florian M. Thieringer
- Department of Biomedical Engineering Medical Additive Manufacturing Research Group (MAM) University of Basel Allschwil Switzerland
- Faculty of Medicine University of Basel Basel Switzerland
- Department of Oral and Cranio‐Maxillofacial Surgery University Hospital Basel Basel Switzerland
| | - Enrico Coppo
- Hand and Peripheral Nerve Surgery Department of Orthopaedic Surgery and Traumatology Kantonsspital Baselland (Bruderholz, Liestal, Laufen) Bruderholz Switzerland
- Department of Biomedical Engineering Medical Additive Manufacturing Research Group (MAM) University of Basel Allschwil Switzerland
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Hohmann M, Kühn D, Späth M, Rohde M, Stelzle F, Klämpfl F, Schmidt M. Development and evaluation of a scoring system for assessing incisions in laser surgery. Sci Rep 2022; 12:14741. [PMID: 36042339 PMCID: PMC9427958 DOI: 10.1038/s41598-022-18969-0] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/14/2021] [Accepted: 08/23/2022] [Indexed: 11/21/2022] Open
Abstract
The idea of laser surgery is nearly as old as the laser itself. From the first trials to modern laser surgery systems, it was and is the aim to selectively cut the tissue in the focus spot without causing harm to surrounding structures. This is only possible when the correct parameters for the surgical laser are chosen. Usually, this is done by parameter studies. However, the concrete evaluation scheme often differs between groups and more precise approaches require staining and microscopic evaluation. To overcome these issues, a macroscopic scoring system is presented and evaluated. It can be shown that the scoring system works well and, thus, a laser cut can be evaluated within a few seconds. At the same time, the whole cutting front is taken into account. The presented scoring system is evaluated by the intra class correlation (ICC). The final agreement between different raters is more than 0.7. Therefore, the scoring system can be used to optimize and evaluate the cutting process and it should be suitable for comparing the results between different groups. Definitely, it can be applied for scoring within a group to enable e.g., a profound statistical analysis for a parameter study.
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Affiliation(s)
- Martin Hohmann
- Institute of Photonic Technologies (LPT), Friedrich-Alexander-Universität Erlangen-Nürnberg (FAU), Konrad-Zuse-Straße 3/5, 91052, Erlangen, Germany. .,Erlangen Graduate School in Advanced Optical Technologies (SAOT), Paul-Gordan-Straße 6, 91052, Erlangen, Germany.
| | - David Kühn
- Institute of Photonic Technologies (LPT), Friedrich-Alexander-Universität Erlangen-Nürnberg (FAU), Konrad-Zuse-Straße 3/5, 91052, Erlangen, Germany
| | - Moritz Späth
- Institute of Photonic Technologies (LPT), Friedrich-Alexander-Universität Erlangen-Nürnberg (FAU), Konrad-Zuse-Straße 3/5, 91052, Erlangen, Germany.,Erlangen Graduate School in Advanced Optical Technologies (SAOT), Paul-Gordan-Straße 6, 91052, Erlangen, Germany
| | - Max Rohde
- Department of Oral and Maxillofacial Surgery, University Hospital Erlangen, Ulmenweg 18, 91054, Erlangen, Germany
| | - Florian Stelzle
- Institute of Photonic Technologies (LPT), Friedrich-Alexander-Universität Erlangen-Nürnberg (FAU), Konrad-Zuse-Straße 3/5, 91052, Erlangen, Germany.,Erlangen Graduate School in Advanced Optical Technologies (SAOT), Paul-Gordan-Straße 6, 91052, Erlangen, Germany.,Department of Oral and Maxillofacial Surgery, University Hospital Erlangen, Ulmenweg 18, 91054, Erlangen, Germany
| | - Florian Klämpfl
- Institute of Photonic Technologies (LPT), Friedrich-Alexander-Universität Erlangen-Nürnberg (FAU), Konrad-Zuse-Straße 3/5, 91052, Erlangen, Germany.,Erlangen Graduate School in Advanced Optical Technologies (SAOT), Paul-Gordan-Straße 6, 91052, Erlangen, Germany
| | - Michael Schmidt
- Institute of Photonic Technologies (LPT), Friedrich-Alexander-Universität Erlangen-Nürnberg (FAU), Konrad-Zuse-Straße 3/5, 91052, Erlangen, Germany.,Erlangen Graduate School in Advanced Optical Technologies (SAOT), Paul-Gordan-Straße 6, 91052, Erlangen, Germany
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Cold Ablation Robot-Guided Laser Osteotome (CARLO ®): From Bench to Bedside. J Clin Med 2021; 10:jcm10030450. [PMID: 33498921 PMCID: PMC7865977 DOI: 10.3390/jcm10030450] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/03/2020] [Revised: 01/05/2021] [Accepted: 01/07/2021] [Indexed: 11/17/2022] Open
Abstract
Background: In order to overcome the geometrical and physical limitations of conventional rotating and piezosurgery instruments used to perform bone osteotomies, as well as the difficulties in translating digital planning to the operating room, a stand-alone robot-guided laser system has been developed by Advanced Osteotomy Tools, a Swiss start-up company. We present our experiences of the first-in-man use of the Cold Ablation Robot-guided Laser Osteotome (CARLO®). Methods: The CARLO® device employs a stand-alone 2.94-µm erbium-doped yttrium aluminum garnet (Er:YAG) laser mounted on a robotic arm. A 19-year-old patient provided informed consent to undergo bimaxillary orthognathic surgery. A linear Le Fort I midface osteotomy was digitally planned and transferred to the CARLO® device. The linear part of the Le Fort I osteotomy was performed autonomously by the CARLO® device under direct visual control. All pre-, intra-, and postoperative technical difficulties and safety issues were documented. Accuracy was analyzed by superimposing pre- and postoperative computed tomography images. Results: The CARLO® device performed the linear osteotomy without any technical or safety issues. There was a maximum difference of 0.8 mm between the planned and performed osteotomies, with a root-mean-square error of 1.0 mm. The patient showed normal postoperative healing with no complications. Conclusion: The newly developed stand-alone CARLO® device could be a useful alternative to conventional burs, drills, and piezosurgery instruments for performing osteotomies. However, the technical workflow concerning the positioning and fixation of the target marker and the implementation of active depth control still need to be improved. Further research to assess safety and accuracy is also necessary, especially at osteotomy sites where direct visual control is not possible. Finally, cost-effectiveness analysis comparing the use of the CARLO® device with gold-standard surgery protocols will help to define the role of the CARLO® device in the surgical landscape.
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